<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('organized__multi__plane__segmentation_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">organized_multi_plane_segmentation.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/planar_region.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="angles_8h.html">pcl/common/angles.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/ModelCoefficients.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/plane_coefficient_comparator.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/plane_refinement_comparator.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html">   62</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html">OrganizedMultiPlaneSegmentation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudL</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::Ptr PointCloudLPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::ConstPtr PointCloudLConstPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;</a> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">PlaneComparator</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PlaneComparator::Ptr PlaneComparatorPtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PlaneComparator::ConstPtr PlaneComparatorConstPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_plane_refinement_comparator.html">pcl::PlaneRefinementComparator&lt;PointT, PointNT, PointLT&gt;</a> <a class="code" href="classpcl_1_1_plane_refinement_comparator.html">PlaneRefinementComparator</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PlaneRefinementComparator::Ptr PlaneRefinementComparatorPtr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PlaneRefinementComparator::ConstPtr PlaneRefinementComparatorConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad9eb838314e29dcfd2abc0030979dc1c">   91</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad9eb838314e29dcfd2abc0030979dc1c">OrganizedMultiPlaneSegmentation</a> () :</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a> (), </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">min_inliers_</a> (1000), </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">angular_threshold_</a> (pcl::<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (3.0)), </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">distance_threshold_</a> (0.02),</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">maximum_curvature_</a> (0.001),</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">project_points_</a> (false), </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a> (new <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">PlaneComparator</a> ()), <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a> (new <a class="code" href="classpcl_1_1_plane_refinement_comparator.html">PlaneRefinementComparator</a> ())</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#adf252d38fd4a3e1e1791258ca4bb682a">  104</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adf252d38fd4a3e1e1791258ca4bb682a">~OrganizedMultiPlaneSegmentation</a> ()</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a11088c6cd55b053e4786fb62224132e2">  112</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a11088c6cd55b053e4786fb62224132e2">setInputNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals) </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a> = normals;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">inline</span> PointCloudNConstPtr</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac501ed2684e3b11588170e16169b8066">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac501ed2684e3b11588170e16169b8066">getInputNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a986c4ce768c192888e91a39ffde8b4bc">  128</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a986c4ce768c192888e91a39ffde8b4bc">setMinInliers</a> (<span class="keywordtype">unsigned</span> min_inliers)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">min_inliers_</a> = min_inliers;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a21006175bc8d000de1377ff961284e16">  135</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a21006175bc8d000de1377ff961284e16">getMinInliers</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">min_inliers_</a>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad68c9c11a4bad2e82e6ca405753984d6">  144</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad68c9c11a4bad2e82e6ca405753984d6">setAngularThreshold</a> (<span class="keywordtype">double</span> angular_threshold)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">angular_threshold_</a> = angular_threshold;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad7e90a382f262ab7b0710a7ce9ec889d">  151</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad7e90a382f262ab7b0710a7ce9ec889d">getAngularThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">angular_threshold_</a>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a24d7215b238456d587914d7aeabcc812">  160</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a24d7215b238456d587914d7aeabcc812">setDistanceThreshold</a> (<span class="keywordtype">double</span> distance_threshold)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">distance_threshold_</a> = distance_threshold;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a148757c572b68ad8c4aa50b3a355160f">  167</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a148757c572b68ad8c4aa50b3a355160f">getDistanceThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">distance_threshold_</a>);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#acf9ab62adc5c4fd94c8c891bf771012a">  176</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#acf9ab62adc5c4fd94c8c891bf771012a">setMaximumCurvature</a> (<span class="keywordtype">double</span> maximum_curvature)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">maximum_curvature_</a> = maximum_curvature;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa52ff8d8e7a69a9f41660cf57e6b9e83">  183</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa52ff8d8e7a69a9f41660cf57e6b9e83">getMaximumCurvature</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">maximum_curvature_</a>);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6d49fd9f33accc4abcde89c8bd4dacc0">  192</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6d49fd9f33accc4abcde89c8bd4dacc0">setComparator</a> (<span class="keyword">const</span> PlaneComparatorPtr&amp; compare)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a> = compare;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a1759b16bd00368670f67f836366a8936">  201</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a1759b16bd00368670f67f836366a8936">setRefinementComparator</a> (<span class="keyword">const</span> PlaneRefinementComparatorPtr&amp; compare)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a> = compare;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa6f56d471ace051ee0eb7fe725eb54aa">  210</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa6f56d471ace051ee0eb7fe725eb54aa">setProjectPoints</a> (<span class="keywordtype">bool</span> project_points)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">project_points_</a> = project_points;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (std::vector&lt;ModelCoefficients&gt;&amp; model_coefficients, </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;               std::vector&lt;PointIndices&gt;&amp; inlier_indices,</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;               std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt;&amp; centroids,</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;               std::vector &lt;Eigen::Matrix3f, Eigen::aligned_allocator&lt;Eigen::Matrix3f&gt; &gt;&amp; covariances,</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;               <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels, </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;               std::vector&lt;pcl::PointIndices&gt;&amp; label_indices);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (std::vector&lt;ModelCoefficients&gt;&amp; model_coefficients, </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;               std::vector&lt;PointIndices&gt;&amp; inlier_indices);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (std::vector&lt;<a class="code" href="classpcl_1_1_planar_region.html">PlanarRegion&lt;PointT&gt;</a>, Eigen::aligned_allocator&lt;<a class="code" href="classpcl_1_1_planar_region.html">PlanarRegion&lt;PointT&gt;</a> &gt; &gt;&amp; regions);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a2afe5e8013291f537c85250765c5d5">segmentAndRefine</a> (std::vector&lt;<a class="code" href="classpcl_1_1_planar_region.html">PlanarRegion&lt;PointT&gt;</a>, Eigen::aligned_allocator&lt;<a class="code" href="classpcl_1_1_planar_region.html">PlanarRegion&lt;PointT&gt;</a> &gt; &gt;&amp; regions);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a2afe5e8013291f537c85250765c5d5">segmentAndRefine</a> (std::vector&lt;<a class="code" href="classpcl_1_1_planar_region.html">PlanarRegion&lt;PointT&gt;</a>, Eigen::aligned_allocator&lt;<a class="code" href="classpcl_1_1_planar_region.html">PlanarRegion&lt;PointT&gt;</a> &gt; &gt;&amp; regions,</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                        std::vector&lt;ModelCoefficients&gt;&amp; model_coefficients,</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                        std::vector&lt;PointIndices&gt;&amp; inlier_indices,</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                        PointCloudLPtr&amp; labels,</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                        std::vector&lt;pcl::PointIndices&gt;&amp; label_indices,</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                        std::vector&lt;pcl::PointIndices&gt;&amp; boundary_indices);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a4be78086232524c475818142a29153e8">refine</a> (std::vector&lt;ModelCoefficients&gt;&amp; model_coefficients, </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;              std::vector&lt;PointIndices&gt;&amp; inlier_indices,</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;              std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt;&amp; centroids,</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;              std::vector &lt;Eigen::Matrix3f, Eigen::aligned_allocator&lt;Eigen::Matrix3f&gt; &gt;&amp; covariances,</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;              PointCloudLPtr&amp; labels,</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;              std::vector&lt;pcl::PointIndices&gt;&amp; label_indices);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">  287</a></span>&#160;      PointCloudNConstPtr <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a>;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">  290</a></span>&#160;      <span class="keywordtype">unsigned</span> <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">min_inliers_</a>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">  293</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">angular_threshold_</a>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">  296</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">distance_threshold_</a>;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">  299</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">maximum_curvature_</a>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">  302</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">project_points_</a>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">  305</a></span>&#160;      PlaneComparatorPtr <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">  308</a></span>&#160;      PlaneRefinementComparatorPtr <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keyword">virtual</span> std::string</div>
<div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa1899480dc8c418f9460a2caa54b68dc">  312</a></span>&#160;      <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa1899480dc8c418f9460a2caa54b68dc">getClassName</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        <span class="keywordflow">return</span> (<span class="stringliteral">&quot;OrganizedMultiPlaneSegmentation&quot;</span>);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  };</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;}</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/organized_multi_plane_segmentation.hpp&gt;</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//#ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_</span></div>
<div class="ttc" id="aangles_8h_html"><div class="ttname"><a href="angles_8h.html">angles.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a></div><div class="ttdoc">OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a11088c6cd55b053e4786fb62224132e2"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a11088c6cd55b053e4786fb62224132e2">pcl::OrganizedMultiPlaneSegmentation::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input normals.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a148757c572b68ad8c4aa50b3a355160f"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a148757c572b68ad8c4aa50b3a355160f">pcl::OrganizedMultiPlaneSegmentation::getDistanceThreshold</a></div><div class="ttdeci">double getDistanceThreshold() const</div><div class="ttdoc">Get the distance threshold in meters (d component of plane equation) between neighboring points,...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a16b5328d0e926c89b40443e721cbd84e"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">pcl::OrganizedMultiPlaneSegmentation::segment</a></div><div class="ttdeci">void segment(std::vector&lt; ModelCoefficients &gt; &amp;model_coefficients, std::vector&lt; PointIndices &gt; &amp;inlier_indices, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;centroids, std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;covariances, pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices)</div><div class="ttdoc">Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a1759b16bd00368670f67f836366a8936"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a1759b16bd00368670f67f836366a8936">pcl::OrganizedMultiPlaneSegmentation::setRefinementComparator</a></div><div class="ttdeci">void setRefinementComparator(const PlaneRefinementComparatorPtr &amp;compare)</div><div class="ttdoc">Provide a pointer to the comparator to be used for refinement.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a21006175bc8d000de1377ff961284e16"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a21006175bc8d000de1377ff961284e16">pcl::OrganizedMultiPlaneSegmentation::getMinInliers</a></div><div class="ttdeci">unsigned getMinInliers() const</div><div class="ttdoc">Get the minimum number of inliers required per plane.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a24d7215b238456d587914d7aeabcc812"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a24d7215b238456d587914d7aeabcc812">pcl::OrganizedMultiPlaneSegmentation::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(double distance_threshold)</div><div class="ttdoc">Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a33b84e36d897a37740afda24c1a500df"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">pcl::OrganizedMultiPlaneSegmentation::project_points_</a></div><div class="ttdeci">bool project_points_</div><div class="ttdoc">Whether or not points should be projected to the plane, or left in the original 3D space.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a3724acaf0d83d69d2ee892a7790ad46e"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">pcl::OrganizedMultiPlaneSegmentation::compare_</a></div><div class="ttdeci">PlaneComparatorPtr compare_</div><div class="ttdoc">A comparator for comparing neighboring pixels' plane equations.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:305</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a3a082745b8730e3a50a8306db96eecb4"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">pcl::OrganizedMultiPlaneSegmentation::distance_threshold_</a></div><div class="ttdeci">double distance_threshold_</div><div class="ttdoc">The tolerance in meters for difference in perpendicular distance (d component of plane equation) to t...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a4be78086232524c475818142a29153e8"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a4be78086232524c475818142a29153e8">pcl::OrganizedMultiPlaneSegmentation::refine</a></div><div class="ttdeci">void refine(std::vector&lt; ModelCoefficients &gt; &amp;model_coefficients, std::vector&lt; PointIndices &gt; &amp;inlier_indices, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;centroids, std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;covariances, PointCloudLPtr &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices)</div><div class="ttdoc">Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by ...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.hpp:313</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a6a17490643b86da3aea1566b1e1ae8bf"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">pcl::OrganizedMultiPlaneSegmentation::min_inliers_</a></div><div class="ttdeci">unsigned min_inliers_</div><div class="ttdoc">The minimum number of inliers required for each plane.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a6a2afe5e8013291f537c85250765c5d5"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a2afe5e8013291f537c85250765c5d5">pcl::OrganizedMultiPlaneSegmentation::segmentAndRefine</a></div><div class="ttdeci">void segmentAndRefine(std::vector&lt; PlanarRegion&lt; PointT &gt;, Eigen::aligned_allocator&lt; PlanarRegion&lt; PointT &gt; &gt; &gt; &amp;regions)</div><div class="ttdoc">Perform a segmentation, as well as an additional refinement step. This helps with including points wh...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.hpp:225</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a6d49fd9f33accc4abcde89c8bd4dacc0"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a6d49fd9f33accc4abcde89c8bd4dacc0">pcl::OrganizedMultiPlaneSegmentation::setComparator</a></div><div class="ttdeci">void setComparator(const PlaneComparatorPtr &amp;compare)</div><div class="ttdoc">Provide a pointer to the comparator to be used for segmentation.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a84bf457bd25dd8f0e8f0da15a309805d"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">pcl::OrganizedMultiPlaneSegmentation::maximum_curvature_</a></div><div class="ttdeci">double maximum_curvature_</div><div class="ttdoc">The tolerance for maximum curvature after fitting a plane. Used to remove smooth, but non-planar regi...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a986c4ce768c192888e91a39ffde8b4bc"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a986c4ce768c192888e91a39ffde8b4bc">pcl::OrganizedMultiPlaneSegmentation::setMinInliers</a></div><div class="ttdeci">void setMinInliers(unsigned min_inliers)</div><div class="ttdoc">Set the minimum number of inliers required for a plane</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_aa1899480dc8c418f9460a2caa54b68dc"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#aa1899480dc8c418f9460a2caa54b68dc">pcl::OrganizedMultiPlaneSegmentation::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdoc">Class getName method.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:312</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_aa52ff8d8e7a69a9f41660cf57e6b9e83"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#aa52ff8d8e7a69a9f41660cf57e6b9e83">pcl::OrganizedMultiPlaneSegmentation::getMaximumCurvature</a></div><div class="ttdeci">double getMaximumCurvature() const</div><div class="ttdoc">Get the maximum curvature allowed for a planar region.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_aa6f56d471ace051ee0eb7fe725eb54aa"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#aa6f56d471ace051ee0eb7fe725eb54aa">pcl::OrganizedMultiPlaneSegmentation::setProjectPoints</a></div><div class="ttdeci">void setProjectPoints(bool project_points)</div><div class="ttdoc">Set whether or not to project boundary points to the plane, or leave them in the original 3D space.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ac12f715d79b15d2823b115cb1c2a0a14"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">pcl::OrganizedMultiPlaneSegmentation::angular_threshold_</a></div><div class="ttdeci">double angular_threshold_</div><div class="ttdoc">The tolerance in radians for difference in normal direction between neighboring points,...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:293</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ac501ed2684e3b11588170e16169b8066"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ac501ed2684e3b11588170e16169b8066">pcl::OrganizedMultiPlaneSegmentation::getInputNormals</a></div><div class="ttdeci">PointCloudNConstPtr getInputNormals() const</div><div class="ttdoc">Get the input normals.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_acf9ab62adc5c4fd94c8c891bf771012a"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#acf9ab62adc5c4fd94c8c891bf771012a">pcl::OrganizedMultiPlaneSegmentation::setMaximumCurvature</a></div><div class="ttdeci">void setMaximumCurvature(double maximum_curvature)</div><div class="ttdoc">Set the maximum curvature allowed for a planar region.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ad68c9c11a4bad2e82e6ca405753984d6"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ad68c9c11a4bad2e82e6ca405753984d6">pcl::OrganizedMultiPlaneSegmentation::setAngularThreshold</a></div><div class="ttdeci">void setAngularThreshold(double angular_threshold)</div><div class="ttdoc">Set the tolerance in radians for difference in normal direction between neighboring points,...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ad7e90a382f262ab7b0710a7ce9ec889d"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ad7e90a382f262ab7b0710a7ce9ec889d">pcl::OrganizedMultiPlaneSegmentation::getAngularThreshold</a></div><div class="ttdeci">double getAngularThreshold() const</div><div class="ttdoc">Get the angular threshold in radians for difference in normal direction between neighboring points,...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ad956ae30406e396f07238aeac5fa8bd1"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">pcl::OrganizedMultiPlaneSegmentation::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input normals</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:287</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ad9eb838314e29dcfd2abc0030979dc1c"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ad9eb838314e29dcfd2abc0030979dc1c">pcl::OrganizedMultiPlaneSegmentation::OrganizedMultiPlaneSegmentation</a></div><div class="ttdeci">OrganizedMultiPlaneSegmentation()</div><div class="ttdoc">Constructor for OrganizedMultiPlaneSegmentation.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:91</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_adc35ef057f74baf0dea376401931f197"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">pcl::OrganizedMultiPlaneSegmentation::refinement_compare_</a></div><div class="ttdeci">PlaneRefinementComparatorPtr refinement_compare_</div><div class="ttdoc">A comparator for use on the refinement step. Compares points to regions segmented in the first pass.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_adf252d38fd4a3e1e1791258ca4bb682a"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#adf252d38fd4a3e1e1791258ca4bb682a">pcl::OrganizedMultiPlaneSegmentation::~OrganizedMultiPlaneSegmentation</a></div><div class="ttdeci">virtual ~OrganizedMultiPlaneSegmentation()</div><div class="ttdoc">Destructor for OrganizedMultiPlaneSegmentation.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_planar_region_html"><div class="ttname"><a href="classpcl_1_1_planar_region.html">pcl::PlanarRegion</a></div><div class="ttdoc">PlanarRegion represents a set of points that lie in a plane. Inherits summary statistics about these ...</div><div class="ttdef"><b>Definition:</b> planar_region.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_coefficient_comparator_html"><div class="ttname"><a href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator</a></div><div class="ttdoc">PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...</div><div class="ttdef"><b>Definition:</b> plane_coefficient_comparator.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html">pcl::PlaneRefinementComparator</a></div><div class="ttdoc">PlaneRefinementComparator is a Comparator that operates on plane coefficients, for use in planar segm...</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga25b0ce695e2a10abb0130bcb5cf90eb6"><div class="ttname"><a href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a></div><div class="ttdeci">float deg2rad(float alpha)</div><div class="ttdoc">Convert an angle from degrees to radians</div><div class="ttdef"><b>Definition:</b> angles.hpp:67</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_20ddda488709b7b18816b240f9df52db.html">segmentation</a></li><li class="navelem"><a class="el" href="dir_d73ea44817f729d5e7cf775c9e236264.html">include</a></li><li class="navelem"><a class="el" href="dir_864cadfcf76019fd9a0a836ee881d655.html">pcl</a></li><li class="navelem"><a class="el" href="dir_75b522e316e1b3af642e1cdb6b6108b7.html">segmentation</a></li><li class="navelem"><b>organized_multi_plane_segmentation.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
